Change bibliography reference

Correct Matlab scripts
Modify transpose notation
2025-04-18 17:47:36 +02:00 · 2025-04-15 10:00:30 +02:00 · 2025-04-07 17:10:01 +02:00 · 2025-04-04 17:52:43 +02:00 · 2025-04-03 10:35:40 +02:00 · 2025-04-02 17:06:33 +02:00
41 changed files with 2570 additions and 2770 deletions
--- a/figs/detail_geometry_gough_paper.jpg
+++ b/figs/detail_geometry_gough_paper.jpg
--- a/figs/detail_geometry_stewart_flight_simulator.jpg
+++ b/figs/detail_geometry_stewart_flight_simulator.jpg
--- a/figs/detail_kinematics_centralized_control.pdf
+++ b/figs/detail_kinematics_centralized_control.pdf
--- a/figs/detail_kinematics_centralized_control.png
+++ b/figs/detail_kinematics_centralized_control.png
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--- a/figs/detail_kinematics_cubic_architecture_example.pdf
+++ b/figs/detail_kinematics_cubic_architecture_example.pdf
--- a/figs/detail_kinematics_cubic_architecture_example.png
+++ b/figs/detail_kinematics_cubic_architecture_example.png
--- a/figs/detail_kinematics_cubic_architecture_example_small.pdf
+++ b/figs/detail_kinematics_cubic_architecture_example_small.pdf
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+++ b/figs/detail_kinematics_cubic_architecture_example_small.png
--- a/figs/detail_kinematics_cubic_schematic.pdf
+++ b/figs/detail_kinematics_cubic_schematic.pdf
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+++ b/figs/detail_kinematics_cubic_schematic.png
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--- a/figs/detail_kinematics_cubic_schematic_full.pdf
+++ b/figs/detail_kinematics_cubic_schematic_full.pdf
--- a/figs/detail_kinematics_cubic_schematic_full.png
+++ b/figs/detail_kinematics_cubic_schematic_full.png
--- a/figs/detail_kinematics_cubic_schematic_full.svg
+++ b/figs/detail_kinematics_cubic_schematic_full.svg
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@@ -300,26 +300,38 @@
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+<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(46.665955%, 67.059326%, 18.429565%)" stroke-opacity="1" stroke-miterlimit="10" d="M -0.00151911 111.043257 L -0.00151911 134.758034 " transform="matrix(0.996214, 0, 0, -0.996214, 99.962451, 180.536942)"/>
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--- a/figs/detail_kinematics_mobility_angle_strut_distance.pdf
+++ b/figs/detail_kinematics_mobility_angle_strut_distance.pdf
--- a/figs/detail_kinematics_mobility_translation_strut_orientation.pdf
+++ b/figs/detail_kinematics_mobility_translation_strut_orientation.pdf
--- a/figs/detail_kinematics_mobility_translation_strut_orientation.png
+++ b/figs/detail_kinematics_mobility_translation_strut_orientation.png
--- a/figs/detail_kinematics_nano_hexapod_iso.pdf
+++ b/figs/detail_kinematics_nano_hexapod_iso.pdf
--- a/figs/detail_kinematics_nano_hexapod_iso.png
+++ b/figs/detail_kinematics_nano_hexapod_iso.png
--- a/figs/detail_kinematics_nano_hexapod_mobility.pdf
+++ b/figs/detail_kinematics_nano_hexapod_mobility.pdf
--- a/figs/detail_kinematics_nano_hexapod_mobility.png
+++ b/figs/detail_kinematics_nano_hexapod_mobility.png
--- a/figs/detail_kinematics_nano_hexapod_top.pdf
+++ b/figs/detail_kinematics_nano_hexapod_top.pdf
--- a/figs/detail_kinematics_nano_hexapod_top.png
+++ b/figs/detail_kinematics_nano_hexapod_top.png
--- a/figs/detail_kinematics_stewart_mobility_close_struts.pdf
+++ b/figs/detail_kinematics_stewart_mobility_close_struts.pdf
--- a/figs/detail_kinematics_stewart_mobility_close_struts.png
+++ b/figs/detail_kinematics_stewart_mobility_close_struts.png
--- a/figs/detail_kinematics_stewart_mobility_hori_struts.pdf
+++ b/figs/detail_kinematics_stewart_mobility_hori_struts.pdf
--- a/figs/detail_kinematics_stewart_mobility_hori_struts.png
+++ b/figs/detail_kinematics_stewart_mobility_hori_struts.png
--- a/figs/detail_kinematics_stewart_mobility_space_struts.pdf
+++ b/figs/detail_kinematics_stewart_mobility_space_struts.pdf
--- a/figs/detail_kinematics_stewart_mobility_space_struts.png
+++ b/figs/detail_kinematics_stewart_mobility_space_struts.png
--- a/figs/detail_kinematics_stewart_mobility_vert_struts.pdf
+++ b/figs/detail_kinematics_stewart_mobility_vert_struts.pdf
--- a/figs/detail_kinematics_stewart_mobility_vert_struts.png
+++ b/figs/detail_kinematics_stewart_mobility_vert_struts.png
--- a/figs/detail_kinematics_uw_gsp.jpg
+++ b/figs/detail_kinematics_uw_gsp.jpg
--- a/matlab/detail_kinematics_1_geometry.m
+++ b/matlab/detail_kinematics_1_geometry.m
@@ -5,8 +5,11 @@ clear; close all; clc;
 s = zpk('s');
 %% Path for functions, data and scripts
 addpath('./mat/'); % Path for data
 addpath('./src/'); % Path for functions
 addpath('./subsystems/'); % Path for Subsystems Simulink files
 % Simulink Model name
 mdl = 'nano_hexapod_model';
 %% Colors for the figures
 colors = colororder;
@@ -20,7 +23,7 @@ stewart = generateGeneralConfiguration(stewart, 'FH', 0, 'FR', 100e-3, 'MH', 0,
                                      'FTh', [-5, 5, 120-5, 120+5, 240-5, 240+5]*(pi/180), ...
                                      'MTh', [-60+5, 60-5, 60+5, 180-5, 180+5, -60-5]*(pi/180));
 stewart = computeJointsPose(stewart);
-stewart = initializeStrutDynamics(stewart, 'K', ones(6,1));
+stewart = initializeStrutDynamics(stewart, 'k', 1);
 stewart = computeJacobian(stewart);
 stewart = initializeCylindricalPlatforms(stewart, 'Fpr', 110e-3, 'Mpr', 110e-3);
@@ -75,7 +78,7 @@ stewart_vert = generateGeneralConfiguration(stewart_vert, 'FH', 0, 'FR', 100e-3,
                                      'FTh', [-25, 25, 120-25, 120+25, 240-25, 240+25]*(pi/180), ...
                                      'MTh', [-60+25, 60-25, 60+25, 180-25, 180+25, -60-25]*(pi/180));
 stewart_vert = computeJointsPose(stewart_vert);
-stewart_vert = initializeStrutDynamics(stewart_vert, 'K', ones(6,1));
+stewart_vert = initializeStrutDynamics(stewart_vert, 'k', 1);
 stewart_vert = computeJacobian(stewart_vert);
 stewart_vert = initializeCylindricalPlatforms(stewart_vert, 'Fpr', 110e-3, 'Mpr', 110e-3);
@@ -88,15 +91,15 @@ stewart_hori = generateGeneralConfiguration(stewart_hori, 'FH', 0, 'FR', 100e-3,
                                      'FTh', [-5, 5, 120-5, 120+5, 240-5, 240+5]*(pi/180), ...
                                      'MTh', [-60+5, 60-5, 60+5, 180-5, 180+5, -60-5]*(pi/180));
 stewart_hori = computeJointsPose(stewart_hori);
-stewart_hori = initializeStrutDynamics(stewart_hori, 'K', ones(6,1));
+stewart_hori = initializeStrutDynamics(stewart_hori, 'k', 1);
 stewart_hori = computeJacobian(stewart_hori);
 stewart_hori = initializeCylindricalPlatforms(stewart_hori, 'Fpr', 110e-3, 'Mpr', 110e-3);
 displayArchitecture(stewart_hori, 'labels', false, 'frames', false, 'F_color', colors(2,:), 'M_color', colors(2,:), 'L_color', colors(2,:));
 %% Translation mobility for two Stewart platform geometry
-thetas = linspace(0, pi, 50);
+thetas = linspace(0, pi, 100);
-phis = linspace(0, 2*pi, 50);
+phis = linspace(0, 2*pi, 100);
 rs_vert = zeros(length(thetas), length(phis));
 rs_hori = zeros(length(thetas), length(phis));
@@ -131,8 +134,8 @@ Zs = 1e6*L_max*Zs;
 figure;
 hold on;
-surf(X_vert, Y_vert, Z_vert, 'FaceColor', 'white', 'LineWidth', 0.2, 'EdgeColor', colors(1,:));
+surf(X_vert, Y_vert, Z_vert, 'FaceColor', 'white', 'LineWidth', 0.1, 'EdgeColor', colors(1,:));
-surf(X_hori, Y_hori+400, Z_hori, 'FaceColor', 'white', 'LineWidth', 0.2, 'EdgeColor', colors(2,:));
+surf(X_hori, Y_hori+400, Z_hori, 'FaceColor', 'white', 'LineWidth', 0.1, 'EdgeColor', colors(2,:));
 quiver3(0, 0, 0, 200, 0, 0, 'k', 'LineWidth', 2, 'MaxHeadSize', 0.7);
 quiver3(0, 0, 0, 0, 200, 0, 'k', 'LineWidth', 2, 'MaxHeadSize', 0.7);
 quiver3(0, 0, 0, 0, 0, 200, 'k', 'LineWidth', 2, 'MaxHeadSize', 0.7);
@@ -158,7 +161,7 @@ stewart_close = generateGeneralConfiguration(stewart_close, 'FH', 0, 'FR', 50e-3
                                      'FTh', [-6, 6, 120-6, 120+6, 240-6, 240+6]*(pi/180), ...
                                      'MTh', [-60+6, 60-6, 60+6, 180-6, 180+6, -60-6]*(pi/180));
 stewart_close = computeJointsPose(stewart_close);
-stewart_close = initializeStrutDynamics(stewart_close, 'K', ones(6,1));
+stewart_close = initializeStrutDynamics(stewart_close, 'k', 1);
 stewart_close = computeJacobian(stewart_close);
 stewart_close = initializeCylindricalPlatforms(stewart_close, 'Fpr', 110e-3, 'Mpr', 110e-3);
@@ -172,7 +175,7 @@ stewart_space = generateGeneralConfiguration(stewart_space, 'FH', 0, 'FR', 100e-
                                      'MTh', [-60+6, 60-6, 60+6, 180-6, 180+6, -60-6]*(pi/180));
 stewart_space.platform_F.Fa = stewart_space.platform_M.Mb - (stewart_close.platform_M.Mb - stewart_close.platform_F.Fa);
 stewart_space = computeJointsPose(stewart_space);
-stewart_space = initializeStrutDynamics(stewart_space, 'K', ones(6,1));
+stewart_space = initializeStrutDynamics(stewart_space, 'k', 1);
 stewart_space = computeJacobian(stewart_space);
 stewart_space = initializeCylindricalPlatforms(stewart_space, 'Fpr', 110e-3, 'Mpr', 110e-3);
@@ -210,8 +213,8 @@ Z_space = 1e6 * rs_space .* cos(theta_grid);
 figure;
 hold on;
-surf(X_close, Y_close, Z_close, 'FaceColor', 'white', 'LineWidth', 0.2, 'EdgeColor', colors(1,:));
+surf(X_close, Y_close, Z_close, 'FaceColor', 'white', 'LineWidth', 0.1, 'EdgeColor', colors(1,:));
-surf(X_space, Y_space+6000, Z_space, 'FaceColor', 'white', 'LineWidth', 0.2, 'EdgeColor', colors(2,:));
+surf(X_space, Y_space+6000, Z_space, 'FaceColor', 'white', 'LineWidth', 0.1, 'EdgeColor', colors(2,:));
 quiver3(0, 0, 0, 4000, 0, 0, 'k', 'LineWidth', 2, 'MaxHeadSize', 0.7);
 quiver3(0, 0, 0, 0, 4000, 0, 'k', 'LineWidth', 2, 'MaxHeadSize', 0.7);
 quiver3(0, 0, 0, 0, 0, 4000, 'k', 'LineWidth', 2, 'MaxHeadSize', 0.7);
--- a/matlab/detail_kinematics_2_cubic.m
+++ b/matlab/detail_kinematics_2_cubic.m
--- a/matlab/detail_kinematics_3_nano_hexapod.m
+++ b/matlab/detail_kinematics_3_nano_hexapod.m
@@ -5,8 +5,11 @@ clear; close all; clc;
 s = zpk('s');
 %% Path for functions, data and scripts
 addpath('./mat/'); % Path for data
 addpath('./src/'); % Path for functions
 addpath('./subsystems/'); % Path for Subsystems Simulink files
 % Simulink Model name
 mdl = 'nano_hexapod_model';
 %% Colors for the figures
 colors = colororder;
@@ -25,14 +28,38 @@ nano_hexapod = generateGeneralConfiguration(nano_hexapod, ...
                                       'MR', 110e-3, ...
                                       'MTh', [255, 285, 15, 45, 135, 165]*(pi/180));
 nano_hexapod = computeJointsPose(nano_hexapod);
-nano_hexapod = initializeStrutDynamics(nano_hexapod, 'K', ones(6,1));
+nano_hexapod = initializeStrutDynamics(nano_hexapod, 'k', 1);
 nano_hexapod = computeJacobian(nano_hexapod);
-nano_hexapod = initializeCylindricalPlatforms(nano_hexapod, 'Fpr', 130e-3, 'Mpr', 120e-3);
+nano_hexapod = initializeCylindricalPlatforms(nano_hexapod, 'Fpr', 125e-3, 'Mpr', 115e-3);
-displayArchitecture(nano_hexapod, 'labels', true);
+%% Obtained architecture for the Nano Hexapod
 displayArchitecture(nano_hexapod, 'labels', true, 'frames', true);
 % Bottom circle
 h = 15e-3;
 r = 120e-3;
 theta = linspace(0, 2*pi, 100);
 x = r * cos(theta);
 y = r * sin(theta);
 z = h * ones(size(theta)); % All points at same height
 plot3(x, y, z, '--', 'color', [colors(1,:)], 'LineWidth', 0.5);
 for i = 1:6
    plot3([0, nano_hexapod.platform_F.Fa(1,i)], [0, nano_hexapod.platform_F.Fa(2,i)], [h,h], '--', 'color', [colors(1,:)], 'LineWidth', 0.5);
 end
 % Top circle
 h = 95e-3 - 15e-3;
 r = 110e-3;
 theta = linspace(0, 2*pi, 100);
 x = r * cos(theta);
 y = r * sin(theta);
 z = h * ones(size(theta)); % All points at same height
 plot3(x, y, z, '--', 'color', [colors(2,:)], 'LineWidth', 0.5);
 for i = 1:6
    plot3([0, nano_hexapod.platform_M.Mb(1,i)], [0, nano_hexapod.platform_M.Mb(2,i)], [h,h], '--', 'color', [colors(2,:)], 'LineWidth', 0.5);
 end
-max_translation = 50e-6;
+%% Estimate required actuator stroke for the wanted mobility
-max_rotation = 50e-6;
+max_translation = 50e-6; % Wanted translation mobility [m]
 max_rotation = 50e-6; % Wanted rotation mobility [rad]
 Dxs = linspace(-max_translation, max_translation, 3);
 Dys = linspace(-max_translation, max_translation, 3);
@@ -40,40 +67,38 @@ Dzs = linspace(-max_translation, max_translation, 3);
 Rxs = linspace(-max_rotation, max_rotation, 3);
 Rys = linspace(-max_rotation, max_rotation, 3);
-L_min = 0;
+L_min = 0; % Required actuator negative stroke [m]
-L_max = 0;
+L_max = 0; % Required actuator negative stroke [m]
 for Dx = Dxs
-for Dy = Dys
+    for Dy = Dys
-for Dz = Dzs
+        for Dz = Dzs
-for Rx = Rxs
+            for Rx = Rxs
-for Ry = Rys
+                for Ry = Rys
-    ARB = [ cos(Ry) 0        sin(Ry);
+                    ARB = [ cos(Ry) 0        sin(Ry);
-            0       1        0;
+                            0       1        0;
-           -sin(Ry) 0        cos(Ry)] * ...
+                           -sin(Ry) 0        cos(Ry)] * ...
-          [ 1       0        0;
+                          [ 1       0        0;
-            0       cos(Rx) -sin(Rx);
+                            0       cos(Rx) -sin(Rx);
-            0       sin(Rx)  cos(Rx)];
+                            0       sin(Rx)  cos(Rx)];
-    [~, Ls] = inverseKinematics(nano_hexapod, 'AP', [Dx;Dy;Dz], 'ARB', ARB);
+                    [~, Ls] = inverseKinematics(nano_hexapod, 'AP', [Dx;Dy;Dz], 'ARB', ARB);
-    if min(Ls) < L_min
+                    if min(Ls) < L_min
-        L_min = min(Ls);
+                        L_min = min(Ls);
-    end
+                    end
-    if max(Ls) > L_max
+                    if max(Ls) > L_max
-        L_max = max(Ls);
+                        L_max = max(Ls);
                    end
                end
            end
        end
    end
 end
 end
 end
 end
 end
-sprintf('Actuator stroke should be from %.0f um to %.0f um', 1e6*L_min, 1e6*L_max)
+disp(sprintf('Actuator stroke should be from %.0f um to %.0f um', 1e6*L_min, 1e6*L_max))
 %% Compute mobility in translation with combined angular motion
 % L_max = 100e-6; % Actuator Stroke (+/-)
 % Direction of motion (spherical coordinates)
 thetas = linspace(0, pi, 100);
 phis = linspace(0, 2*pi, 100);
@@ -103,28 +128,25 @@ for i = 1:length(thetas)
        dL_rot_max = zeros(6,1);
        % Perform (small) rotations, and find the (worst) case requiring maximum strut motion
        for Rx = Rxs
-        for Ry = Rys
+            for Ry = Rys
                dL_rot = nano_hexapod.kinematics.J*[0; 0; 0; Rx; Ry; 0];
                if max(abs(dL_lin_max + dL_rot)) > dL_worst
                    dL_worst = max(abs(dL_lin_max + dL_rot));
                    dL_rot_max = dL_rot;
                    worst_rx_ry(i,j,:) = [Rx, Ry];
                end
-        end
+            end
        end
        stroke_ratio = min(abs([( L_max - dL_rot_max) ./ dL_lin_max; (-L_max - dL_rot_max) ./ dL_lin_max]));
        dL_real = dL_lin_max*stroke_ratio + dL_rot_max;
        % % Obtained maximum displacement in the considered direction with angular motion
        % rs(i, j) = stroke_ratio*max(abs(dL_lin_max));
        rs(i, j) = stroke_ratio*L_max/max(abs(dL_lin));
    end
 end
-min(min(rs))
+%% Wanted translation mobility of the Nano-Hexapod and computed Mobility
 max(max(rs))
 [phi_grid, theta_grid] = meshgrid(phis, thetas);
 X = 1e6 * rs .* sin(theta_grid) .* cos(phi_grid);
 Y = 1e6 * rs .* sin(theta_grid) .* sin(phi_grid);
@@ -163,29 +185,51 @@ hold off;
 axis equal;
 grid on;
 xlabel('X Translation [$\mu$m]'); ylabel('Y Translation [$\mu$m]'); zlabel('Z Translation [$\mu$m]');
-xlim(2e6*[-L_max, L_max]); ylim(2e6*[-L_max, L_max]); zlim(2e6*[-L_max, L_max]);
+xlim([-150 150]); ylim([-150, 150]); zlim([-120, 120]);
 view(-160, 20)
-%% Estimation of the required flexible joint angular stroke
+%% Estimate required actuator stroke for the wanted mobility
-max_angles = zeros(1,6);
+max_translation = 50e-6; % Wanted translation mobility [m]
 max_rotation = 50e-6; % Wanted rotation mobility [rad]
 Dxs = linspace(-max_translation, max_translation, 3);
 Dys = linspace(-max_translation, max_translation, 3);
 Dzs = linspace(-max_translation, max_translation, 3);
 Rxs = linspace(-max_rotation, max_rotation, 3);
 Rys = linspace(-max_rotation, max_rotation, 3);
 max_angles_F = zeros(1,6); % Maximum bending angle - Fixed joints [rad]
 max_angles_M = zeros(1,6); % Maximum bending angle - Mobile joints [rad]
 % Compute initial strut orientation
 nano_hexapod = computeJointsPose(nano_hexapod, 'AP', zeros(3,1), 'ARB', eye(3));
-As = nano_hexapod.geometry.As;
+As = nano_hexapod.geometry.As; % Fixed joints
 Bs = nano_hexapod.geometry.Bs; % Mobile joints
-% Only consider translations, but add maximum expected top platform rotation
+for Dx = Dxs
-for i = 1:length(thetas)
+    for Dy = Dys
-    for j = 1:length(phis)
+        for Dz = Dzs
-        % Maximum translations
+            for Rx = Rxs
-        Tx = rs(i,j)*sin(thetas(i))*cos(phis(j));
+                for Ry = Rys
-        Ty = rs(i,j)*sin(thetas(i))*sin(phis(j));
+                    ARB = [ cos(Ry) 0        sin(Ry);
-        Tz = rs(i,j)*cos(thetas(i));
+                            0       1        0;
                           -sin(Ry) 0        cos(Ry)] * ...
                          [ 1       0        0;
                            0       cos(Rx) -sin(Rx);
                            0       sin(Rx)  cos(Rx)];
-        nano_hexapod = computeJointsPose(nano_hexapod, 'AP', [Tx; Ty; Tz], 'ARB', eye(3));
+                    nano_hexapod = computeJointsPose(nano_hexapod, 'AP', [Dx;Dy;Dz], 'ARB', ARB);
-        angles = acos(dot(As, nano_hexapod.geometry.As));
+                    angles_M = acos(dot(Bs, nano_hexapod.geometry.Bs));
-        larger_angles = abs(angles) > max_angles;
+                    max_angles_M(angles_M > max_angles_M) = angles_M(angles_M > max_angles_M);
-        max_angles(larger_angles) = angles(larger_angles);
+
                    angles_F = acos(dot(Bs, nano_hexapod.geometry.As));
                    max_angles_F(angles_F > max_angles_F) = angles_F(angles_F > max_angles_F);
                end
            end
        end
    end
 end
-sprintf('Maximum flexible joint angle is %.1f mrad', 1e3*max(max_angles))
+disp(sprintf('Fixed joint stroke should be %.1f mrad', 1e3*max(max_angles_F)))
 disp(sprintf('Mobile joint stroke should be %.1f mrad', 1e3*max(max_angles_M)))
--- a/nass-geometry.bib
+++ b/nass-geometry.bib
@@ -1,3 +1,52 @@
@article{geng93_six_degree_of_freed_activ,
  author          = {Zheng Geng and Leonard S. Haynes},
  title           = {Six-Degree-Of-Freedom Active Vibration Isolation Using a
                  Stewart Platform Mechanism},
  journal         = {Journal of Robotic Systems},
  volume          = 10,
  number          = 5,
  pages           = {725-744},
  year            = 1993,
  doi             = {10.1002/rob.4620100510},
  url             = {https://doi.org/10.1002/rob.4620100510},
  keywords        = {parallel robot},
 }
@article{geng94_six_degree_of_freed_activ,
  author          = {Z.J. Geng and L.S. Haynes},
  title           = {Six Degree-Of-Freedom Active Vibration Control Using the
                  Stewart Platforms},
  journal         = {IEEE Transactions on Control Systems Technology},
  volume          = 2,
  number          = 1,
  pages           = {45-53},
  year            = 1994,
  doi             = {10.1109/87.273110},
  url             = {https://doi.org/10.1109/87.273110},
  keywords        = {parallel robot, cubic configuration},
 }
@article{geng95_intel_contr_system_multip_degree,
  author          = {Z. Jason Geng and George G. Pan and Leonard S. Haynes and
                  Ben K. Wada and John A. Garba},
  title           = {An Intelligent Control System for Multiple
                  Degree-Of-Freedom Vibration Isolation},
  journal         = {Journal of Intelligent Material Systems and Structures},
  volume          = 6,
  number          = 6,
  pages           = {787-800},
  year            = 1995,
  doi             = {10.1177/1045389x9500600607},
  url             = {https://doi.org/10.1177/1045389x9500600607},
  keywords        = {parallel robot},
 }
@inproceedings{spanos95_soft_activ_vibrat_isolat,
  author          = {J. Spanos and Z. Rahman and G. Blackwood},
  title           = {A Soft 6-axis Active Vibration Isolator},
@@ -142,12 +191,54 @@
  url             = {https://doi.org/10.1109/tra.2003.814506},
  issn            = {1042-296X},
  keywords        = {parallel robot, cubic configuration},
-  month           = {Aug},
+  month           = {8},
  publisher       = {Institute of Electrical and Electronics Engineers (IEEE)},
 }
@inproceedings{defendini00_techn,
  author          = {Defendini, A and Vaillon, L and Trouve, F and Rouze, Th and
                  Sanctorum, B and Griseri, G and Spanoudakis, P and von
                  Alberti, M},
  title           = {Technology predevelopment for active control of vibration
                  and very high accuracy pointing systems},
  booktitle       = {Spacecraft Guidance, Navigation and Control Systems},
  year            = 2000,
  volume          = 425,
  pages           = 385,
 }
@inproceedings{abu02_stiff_soft_stewar_platf_activ,
  author          = {Abu Hanieh, Ahmed and Horodinca, Mihaita and Preumont,
                  Andre},
  title           = {Stiff and Soft Stewart Platforms for Active Damping and
                  Active Isolation of Vibrations},
  booktitle       = {Actuator 2002, 8th International Conference on New
                  Actuators},
  year            = 2002,
  keywords        = {parallel robot},
 }
@inproceedings{chen03_payload_point_activ_vibrat_isolat,
  author          = {Hong-Jen Chen and Ronald Bishop and Brij Agrawal},
  title           = {Payload Pointing and Active Vibration Isolation Using
                  Hexapod Platforms},
  booktitle       = {44th AIAA/ASME/ASCE/AHS/ASC Structures, Structural
                  Dynamics, and Materials Conference},
  year            = 2003,
  doi             = {10.2514/6.2003-1643},
  url             = {https://doi.org/10.2514/6.2003-1643},
  keywords        = {parallel robot},
  month           = 4,
 }
@phdthesis{hanieh03_activ_stewar,
  author          = {Hanieh, Ahmed Abu},
  keywords        = {parallel robot},
@@ -177,29 +268,109 @@
-@inproceedings{taranti01_effic_algor_vibrat_suppr,
+@article{agrawal04_algor_activ_vibrat_isolat_spacec,
-  author          = {Taranti, Christian and Agrawal, Brij and Cristi, Roberto},
+  author          = {Brij N Agrawal and Hong-Jen Chen},
-  title           = {An Efficient Algorithm for Vibration Suppression to meet
+  title           = {Algorithms for Active Vibration Isolation on Spacecraft
-                  pointing requirements of optical payloads},
+                  Using a Stewart Platform},
-  booktitle       = {AIAA Guidance, Navigation, and Control Conference and
+  journal         = {Smart Materials and Structures},
-                  Exhibit},
+  volume          = 13,
-  year            = 2001,
+  number          = 4,
-  pages           = 4094,
+  pages           = {873-880},
  year            = 2004,
  doi             = {10.1088/0964-1726/13/4/025},
  url             = {https://doi.org/10.1088/0964-1726/13/4/025},
  keywords        = {parallel robot},
 }
-@inproceedings{chen03_payload_point_activ_vibrat_isolat,
+@article{furutani04_nanom_cuttin_machin_using_stewar,
-  author          = {Hong-Jen Chen and Ronald Bishop and Brij Agrawal},
+  author          = {Katsushi Furutani and Michio Suzuki and Ryusei Kudoh},
-  title           = {Payload Pointing and Active Vibration Isolation Using
+  title           = {Nanometre-Cutting Machine Using a Stewart-Platform Parallel
-                  Hexapod Platforms},
+                  Mechanism},
-  booktitle       = {44th AIAA/ASME/ASCE/AHS/ASC Structures, Structural
+  journal         = {Measurement Science and Technology},
-                  Dynamics, and Materials Conference},
+  volume          = 15,
-  year            = 2003,
+  number          = 2,
-  doi             = {10.2514/6.2003-1643},
+  pages           = {467-474},
-  url             = {https://doi.org/10.2514/6.2003-1643},
+  year            = 2004,
  doi             = {10.1088/0957-0233/15/2/022},
  url             = {https://doi.org/10.1088/0957-0233/15/2/022},
  keywords        = {parallel robot, cubic configuration},
 }
@inproceedings{ting06_desig_stewar_nanos_platf,
  author          = {Yung Ting and H.-C. Jar and Chun-Chung Li},
  title           = {Design of a 6DOF Stewart-type Nanoscale Platform},
  booktitle       = {2006 Sixth IEEE Conference on Nanotechnology},
  year            = 2006,
  doi             = {10.1109/nano.2006.247808},
  url             = {https://doi.org/10.1109/nano.2006.247808},
  keywords        = {parallel robot},
 }
@article{ting13_compos_contr_desig_stewar_nanos_platf,
  author          = {Yung Ting and Chun-Chung Li and Tho Van Nguyen},
  title           = {Composite Controller Design for a 6dof Stewart Nanoscale
                  Platform},
  journal         = {Precision Engineering},
  volume          = 37,
  number          = 3,
  pages           = {671-683},
  year            = 2013,
  doi             = {10.1016/j.precisioneng.2013.01.012},
  url             = {https://doi.org/10.1016/j.precisioneng.2013.01.012},
  keywords        = {parallel robot},
 }
@article{ting07_measur_calib_stewar_microm_system,
  author          = {Yung Ting and Ho-Chin Jar and Chun-Chung Li},
  title           = {Measurement and Calibration for Stewart Micromanipulation
                  System},
  journal         = {Precision Engineering},
  volume          = 31,
  number          = 3,
  pages           = {226-233},
  year            = 2007,
  doi             = {10.1016/j.precisioneng.2006.09.004},
  url             = {https://doi.org/10.1016/j.precisioneng.2006.09.004},
  keywords        = {parallel robot},
 }
@inproceedings{zhang11_six_dof,
  author          = {Zhen Zhang and J Liu and Jq Mao and Yx Guo and Yh Ma},
  title           = {Six DOF active vibration control using stewart platform
                  with non-cubic configuration},
  booktitle       = {2011 6th IEEE Conference on Industrial Electronics and
                  Applications},
  year            = 2011,
  doi             = {10.1109/iciea.2011.5975679},
  url             = {https://doi.org/10.1109/iciea.2011.5975679},
  keywords        = {parallel robot},
  month           = 6,
 }
@article{du14_piezo_actuat_high_precis_flexib,
  author          = {Zhijiang Du and Ruochong Shi and Wei Dong},
  title           = {A Piezo-Actuated High-Precision Flexible Parallel Pointing
                  Mechanism: Conceptual Design, Development, and Experiments},
  journal         = {IEEE Transactions on Robotics},
  volume          = 30,
  number          = 1,
  pages           = {131-137},
  year            = 2014,
  doi             = {10.1109/tro.2013.2288800},
  url             = {https://doi.org/10.1109/tro.2013.2288800},
  keywords        = {parallel robot},
  month           = 4,
 }
@@ -254,6 +425,25 @@
@article{wang16_inves_activ_vibrat_isolat_stewar,
  author          = {Wang, Chaoxin and Xie, Xiling and Chen, Yanhao and Zhang,
                  Zhiyi},
  title           = {Investigation on Active Vibration Isolation of a Stewart
                  Platform With Piezoelectric Actuators},
  journal         = {Journal of Sound and Vibration},
  volume          = 383,
  pages           = {1-19},
  year            = 2016,
  doi             = {10.1016/j.jsv.2016.07.021},
  url             = {https://doi.org/10.1016/j.jsv.2016.07.021},
  issn            = {0022-460X},
  keywords        = {parallel robot},
  month           = {11},
  publisher       = {Elsevier BV},
 }
@article{beijen18_self_tunin_mimo_distur_feedf,
  author          = {M.A. Beijen and M.F. Heertjes and J. Van Dijk and W.B.J.
                  Hakvoort},
@@ -280,175 +470,6 @@
@article{geng93_six_degree_of_freed_activ,
  author          = {Zheng Geng and Leonard S. Haynes},
  title           = {Six-Degree-Of-Freedom Active Vibration Isolation Using a
                  Stewart Platform Mechanism},
  journal         = {Journal of Robotic Systems},
  volume          = 10,
  number          = 5,
  pages           = {725-744},
  year            = 1993,
  doi             = {10.1002/rob.4620100510},
  url             = {https://doi.org/10.1002/rob.4620100510},
  keywords        = {parallel robot},
 }
@article{geng94_six_degree_of_freed_activ,
  author          = {Z.J. Geng and L.S. Haynes},
  title           = {Six Degree-Of-Freedom Active Vibration Control Using the
                  Stewart Platforms},
  journal         = {IEEE Transactions on Control Systems Technology},
  volume          = 2,
  number          = 1,
  pages           = {45-53},
  year            = 1994,
  doi             = {10.1109/87.273110},
  url             = {https://doi.org/10.1109/87.273110},
  keywords        = {parallel robot, cubic configuration},
 }
@article{geng95_intel_contr_system_multip_degree,
  author          = {Z. Jason Geng and George G. Pan and Leonard S. Haynes and
                  Ben K. Wada and John A. Garba},
  title           = {An Intelligent Control System for Multiple
                  Degree-Of-Freedom Vibration Isolation},
  journal         = {Journal of Intelligent Material Systems and Structures},
  volume          = 6,
  number          = 6,
  pages           = {787-800},
  year            = 1995,
  doi             = {10.1177/1045389x9500600607},
  url             = {https://doi.org/10.1177/1045389x9500600607},
  keywords        = {parallel robot},
 }
@inproceedings{zhang11_six_dof,
  author          = {Zhen Zhang and J Liu and Jq Mao and Yx Guo and Yh Ma},
  title           = {Six DOF active vibration control using stewart platform
                  with non-cubic configuration},
  booktitle       = {2011 6th IEEE Conference on Industrial Electronics and
                  Applications},
  year            = 2011,
  doi             = {10.1109/iciea.2011.5975679},
  url             = {https://doi.org/10.1109/iciea.2011.5975679},
  keywords        = {parallel robot},
  month           = 6,
 }
@inproceedings{abu02_stiff_soft_stewar_platf_activ,
  author          = {Abu Hanieh, Ahmed and Horodinca, Mihaita and Preumont,
                  Andre},
  title           = {Stiff and Soft Stewart Platforms for Active Damping and
                  Active Isolation of Vibrations},
  booktitle       = {Actuator 2002, 8th International Conference on New
                  Actuators},
  year            = 2002,
  keywords        = {parallel robot},
 }
@article{agrawal04_algor_activ_vibrat_isolat_spacec,
  author          = {Brij N Agrawal and Hong-Jen Chen},
  title           = {Algorithms for Active Vibration Isolation on Spacecraft
                  Using a Stewart Platform},
  journal         = {Smart Materials and Structures},
  volume          = 13,
  number          = 4,
  pages           = {873-880},
  year            = 2004,
  doi             = {10.1088/0964-1726/13/4/025},
  url             = {https://doi.org/10.1088/0964-1726/13/4/025},
  keywords        = {parallel robot},
 }
@inproceedings{ting06_desig_stewar_nanos_platf,
  author          = {Yung Ting and H.-C. Jar and Chun-Chung Li},
  title           = {Design of a 6DOF Stewart-type Nanoscale Platform},
  booktitle       = {2006 Sixth IEEE Conference on Nanotechnology},
  year            = 2006,
  doi             = {10.1109/nano.2006.247808},
  url             = {https://doi.org/10.1109/nano.2006.247808},
  keywords        = {parallel robot},
 }
@article{ting13_compos_contr_desig_stewar_nanos_platf,
  author          = {Yung Ting and Chun-Chung Li and Tho Van Nguyen},
  title           = {Composite Controller Design for a 6dof Stewart Nanoscale
                  Platform},
  journal         = {Precision Engineering},
  volume          = 37,
  number          = 3,
  pages           = {671-683},
  year            = 2013,
  doi             = {10.1016/j.precisioneng.2013.01.012},
  url             = {https://doi.org/10.1016/j.precisioneng.2013.01.012},
  keywords        = {parallel robot},
 }
@article{ting07_measur_calib_stewar_microm_system,
  author          = {Yung Ting and Ho-Chin Jar and Chun-Chung Li},
  title           = {Measurement and Calibration for Stewart Micromanipulation
                  System},
  journal         = {Precision Engineering},
  volume          = 31,
  number          = 3,
  pages           = {226-233},
  year            = 2007,
  doi             = {10.1016/j.precisioneng.2006.09.004},
  url             = {https://doi.org/10.1016/j.precisioneng.2006.09.004},
  keywords        = {parallel robot},
 }
@article{du14_piezo_actuat_high_precis_flexib,
  author          = {Zhijiang Du and Ruochong Shi and Wei Dong},
  title           = {A Piezo-Actuated High-Precision Flexible Parallel Pointing
                  Mechanism: Conceptual Design, Development, and Experiments},
  journal         = {IEEE Transactions on Robotics},
  volume          = 30,
  number          = 1,
  pages           = {131-137},
  year            = 2014,
  doi             = {10.1109/tro.2013.2288800},
  url             = {https://doi.org/10.1109/tro.2013.2288800},
  keywords        = {parallel robot},
 }
@article{furutani04_nanom_cuttin_machin_using_stewar,
  author          = {Katsushi Furutani and Michio Suzuki and Ryusei Kudoh},
  title           = {Nanometre-Cutting Machine Using a Stewart-Platform Parallel
                  Mechanism},
  journal         = {Measurement Science and Technology},
  volume          = 15,
  number          = 2,
  pages           = {467-474},
  year            = 2004,
  doi             = {10.1088/0957-0233/15/2/022},
  url             = {https://doi.org/10.1088/0957-0233/15/2/022},
  keywords        = {parallel robot, cubic configuration},
 }
@article{yang19_dynam_model_decoup_contr_flexib,
  author          = {Yang, XiaoLong and Wu, HongTao and Chen, Bai and Kang,
                  ShengZheng and Cheng, ShiLi},
@@ -462,67 +483,23 @@
  url             = {https://doi.org/10.1016/j.jsv.2018.10.007},
  issn            = {0022-460X},
  keywords        = {parallel robot, flexure, decoupled control},
-  month           = {Jan},
+  month           = 1,
  publisher       = {Elsevier BV},
 }
-@article{wang16_inves_activ_vibrat_isolat_stewar,
+@phdthesis{naves21_desig_optim_large_strok_flexur_mechan,
  author          = {Wang, Chaoxin and Xie, Xiling and Chen, Yanhao and Zhang,
                  Zhiyi},
  title           = {Investigation on Active Vibration Isolation of a Stewart
                  Platform With Piezoelectric Actuators},
  journal         = {Journal of Sound and Vibration},
  volume          = 383,
  pages           = {1-19},
  year            = 2016,
  doi             = {10.1016/j.jsv.2016.07.021},
  url             = {https://doi.org/10.1016/j.jsv.2016.07.021},
  issn            = {0022-460X},
  keywords        = {parallel robot},
  month           = {Nov},
  publisher       = {Elsevier BV},
 }
@inproceedings{defendini00_techn,
  author          = {Defendini, A and Vaillon, L and Trouve, F and Rouze, Th and
                  Sanctorum, B and Griseri, G and Spanoudakis, P and von
                  Alberti, M},
  title           = {Technology predevelopment for active control of vibration
                  and very high accuracy pointing systems},
  booktitle       = {Spacecraft Guidance, Navigation and Control Systems},
  year            = 2000,
  volume          = 425,
  pages           = 385,
 }
@article{torii12_small_size_self_propel_stewar_platf,
  author          = {Akihiro Torii and Masaaki Banno and Akiteru Ueda and Kae
                  Doki},
  title           = {A Small-Size Self-Propelled Stewart Platform},
  journal         = {Electrical Engineering in Japan},
  volume          = 181,
  number          = 2,
  pages           = {37-46},
  year            = 2012,
  doi             = {10.1002/eej.21261},
  url             = {https://doi.org/10.1002/eej.21261},
  keywords        = {parallel robot},
 }
@phdthesis{naves20_desig,
  author          = {Mark Naves},
-  school          = {Univeristy of Twente},
+  day             = 21,
-  title           = {Design and optimization of large stroke flexure mechanisms},
+  doi             = "10.3990/1.9789036549943",
-  year            = 2020,
+  isbn            = "978-90-365-4994-3",
  keywords        = {flexure},
  month           = may,
  publisher       = {University of Twente},
  school          = {Univeristy of Twente},
  title           = {Design and Optimization of Large Stroke Flexure Mechanisms},
  year            = 2021,
 }
@@ -540,3 +517,211 @@
  organization    = {EUSPEN},
 }
@phdthesis{afzali-far16_vibrat_dynam_isotr_hexap_analy_studies,
  author          = {Afzali-Far, Behrouz},
  school          = {Lund University},
  title           = {Vibrations and Dynamic Isotropy in Hexapods-Analytical
                  Studies},
  year            = 2016,
  keywords        = {parallel robot},
 }
@article{gough62_univer_tyre_test_machin,
  author          = {Gough, V Eric},
  title           = {Universal Tyre Test Machine},
  journal         = {Proc. FISITA 9th Int. Technical Congr., London, 1962},
  pages           = {117--137},
  year            = 1962,
 }
@article{stewart65_platf_with_six_degrees_freed,
  author          = {Stewart, Doug},
  title           = {A Platform With Six Degrees of Freedom},
  journal         = {Proceedings of the institution of mechanical engineers},
  volume          = 180,
  number          = 1,
  pages           = {371--386},
  year            = 1965,
  publisher       = {Sage Publications Sage UK: London, England},
 }
@article{dasgupta00_stewar_platf_manip,
  author          = {Bhaskar Dasgupta and T.S. Mruthyunjaya},
  title           = {The Stewart Platform Manipulator: a Review},
  journal         = {Mechanism and Machine Theory},
  volume          = 35,
  number          = 1,
  pages           = {15-40},
  year            = 2000,
  doi             = {10.1016/s0094-114x(99)00006-3},
  url             = {https://doi.org/10.1016/s0094-114x(99)00006-3},
  keywords        = {parallel robot},
 }
@article{kazezkhan14_dynam_model_stewar_platf_nansh_radio_teles,
  author          = {Guljaina Kazezkhan and Binbin Xiang and Na Wang and Aili
                  Yusup},
  title           = {Dynamic Modeling of the Stewart Platform for the Nanshan
                  Radio Telescope},
  journal         = {Advances in Mechanical Engineering},
  volume          = 12,
  number          = 7,
  pages           = {nil},
  year            = 2014,
  doi             = {10.1177/1687814020940072},
  url             = {http://dx.doi.org/10.1177/1687814020940072},
 }
@article{yun19_devel_isotr_stewar_platf_teles_secon_mirror,
  author          = {Hai Yun and Lei Liu and Qing Li and Wenbo Li and Liang
                  Tang},
  title           = {Development of an Isotropic Stewart Platform for Telescope
                  Secondary Mirror},
  journal         = {Mechanical Systems and Signal Processing},
  volume          = 127,
  number          = {nil},
  pages           = {328-344},
  year            = 2019,
  doi             = {10.1016/j.ymssp.2019.03.001},
  url             = {http://dx.doi.org/10.1016/j.ymssp.2019.03.001},
 }
@article{russo24_review_paral_kinem_machin_tools,
  author          = {Matteo Russo and Dan Zhang and Xin-Jun Liu and Zenghui Xie},
  title           = {A Review of Parallel Kinematic Machine Tools: Design,
                  Modeling, and Applications},
  journal         = {International Journal of Machine Tools and Manufacture},
  volume          = 196,
  number          = {nil},
  pages           = 104118,
  year            = 2024,
  doi             = {10.1016/j.ijmachtools.2024.104118},
  url             = {http://dx.doi.org/10.1016/j.ijmachtools.2024.104118},
 }
@inproceedings{marion04_hexap_esrf,
  author          = {Marion, Ph and Comin, F and Rostaining, G and others},
  title           = {Hexapods at the ESRF: mechanical aspects results obtained},
  booktitle       = {MEDSI 2004 proceedings},
  year            = 2004,
  pages           = {1--9},
  keywords        = {esrf},
 }
@article{villar18_nanop_esrf_id16a_nano_imagin_beaml,
  author          = {F. Villar and L. Andre and R. Baker and S. Bohic and J. C.
                  da Silva and C. Guilloud and O. Hignette and J. Meyer and A.
                  Pacureanu and M. Perez and M. Salome and P. van der Linden and
                  Y. Yang and P. Cloetens},
  title           = {Nanopositioning for the Esrf Id16a Nano-Imaging Beamline},
  journal         = {Synchrotron Radiation News},
  volume          = 31,
  number          = 5,
  pages           = {9-14},
  year            = 2018,
  doi             = {10.1080/08940886.2018.1506234},
  url             = {http://dx.doi.org/10.1080/08940886.2018.1506234},
  keywords        = {esrf},
 }
@book{merlet06_paral_robot,
  author          = {Merlet, J. P.},
  title           = {Parallel Robots},
  year            = 2006,
  publisher       = {Springer Publishing Company, Incorporated},
  edition         = {2nd},
  isbn            = 9048170532,
 }
@phdthesis{li01_simul_fault_vibrat_isolat_point,
  author          = {Li, Xiaochun},
  keywords        = {parallel robot},
  school          = {University of Wyoming},
  title           = {Simultaneous, Fault-tolerant Vibration Isolation and
                  Pointing Control of Flexure Jointed Hexapods},
  year            = 2001,
 }
@article{kim00_robus_track_contr_desig_dof_paral_manip,
  author          = {Dong Hwan Kim and Ji-Yoon Kang and Kyo-Il Lee},
  title           = {Robust Tracking Control Design for a 6 Dof Parallel
                  Manipulator},
  journal         = {Journal of Robotic Systems},
  volume          = 17,
  number          = 10,
  pages           = {527-547},
  year            = 2000,
  doi             = {10.1002/1097-4563(200010)17:10$<$527::AID-ROB2>3.0.CO;2-A},
  url             =
                  {https://doi.org/10.1002/1097-4563(200010)17:10$<$527::AID-ROB2>3.0.CO;2-A},
  keywords        = {parallel robot},
 }
@inproceedings{merlet02_still,
  author          = {Merlet, Jean-Pierre},
  title           = {Still a long way to go on the road for parallel mechanisms},
  booktitle       = {Proc. ASME 2002 DETC Conf., Montreal},
  year            = 2002,
  keywords        = {parallel robot},
 }
@article{mcinroy02_model_desig_flexur_joint_stewar,
  author          = {J.E. McInroy},
  title           = {Modeling and Design of Flexure Jointed Stewart Platforms
                  for Control Purposes},
  journal         = {IEEE/ASME Transactions on Mechatronics},
  volume          = 7,
  number          = 1,
  pages           = {95-99},
  year            = 2002,
  doi             = {10.1109/3516.990892},
  url             = {https://doi.org/10.1109/3516.990892},
  keywords        = {parallel robot, flexure},
 }
@book{preumont18_vibrat_contr_activ_struc_fourt_edition,
  author          = {Andre Preumont},
  title           = {Vibration Control of Active Structures - Fourth Edition},
  year            = 2018,
  publisher       = {Springer International Publishing},
  url             = {https://doi.org/10.1007/978-3-319-72296-2},
  doi             = {10.1007/978-3-319-72296-2},
  keywords        = {favorite, parallel robot},
  series          = {Solid Mechanics and Its Applications},
 }
--- a/nass-geometry.org
+++ b/nass-geometry.org
--- a/nass-geometry.pdf
+++ b/nass-geometry.pdf
--- a/nass-geometry.tex
+++ b/nass-geometry.tex
--- a/preamble_extra.tex
+++ b/preamble_extra.tex
@@ -7,13 +7,15 @@
 \usepackage{xpatch} % Recommanded for biblatex
 \usepackage[        % use biblatex for bibliography
    backend=biber,  % use biber backend (bibtex replacement) or bibtex
-    style=ieee,     % bib style
+    style=numeric-comp,     % bib style
    hyperref=true,  % activate hyperref support
    backref=true,   % activate backrefs
    isbn=false,     % don't show isbn tags
    url=false,      % don't show url tags
    doi=false,      % don't show doi tags
    urldate=long,   % display type for dates
    autocite=inline,%
    sortcites=true, %
    maxnames=3,     %
    minnames=1,     %
    maxbibnames=5,  %
@@ -132,3 +134,6 @@
 }
 \usepackage{hypcap}
 \renewcommand{\topfraction}{.8}
 \renewcommand{\floatpagefraction}{.8}
Author	SHA1	Message	Date
Thomas Dehaeze	3c431dcf46	Change bibliography reference	2025-04-18 17:47:36 +02:00
Thomas Dehaeze	9baa4c04d3	Correct Matlab scripts	2025-04-15 10:00:30 +02:00
Thomas Dehaeze	3f53a5977c	Modify transpose notation	2025-04-07 17:10:01 +02:00
Thomas Dehaeze	de4b8bc88c	Christophe's review	2025-04-04 17:52:43 +02:00
Thomas Dehaeze	ab39bbdf0a	Second rewrite	2025-04-03 10:35:40 +02:00
Thomas Dehaeze	049ab757b0	Unnecessary figure	2025-04-02 17:06:33 +02:00
Thomas Dehaeze	1126abe844	Compile without error	2025-04-02 17:04:27 +02:00
Thomas Dehaeze	843fb79413	Verify that matlab scripts are working	2025-04-02 16:56:24 +02:00
Thomas Dehaeze	b6a32476b5	First complete rewrite	2025-04-02 16:52:32 +02:00
Thomas Dehaeze	e2724e24a9	Rework nano-hexapod section	2025-04-02 11:17:55 +02:00
Thomas Dehaeze	2c662f23a8	Second draft before full writing	2025-04-01 19:15:19 +02:00
Thomas Dehaeze	8b1bafb88e	Compute nano hexapod geometry	2025-04-01 15:09:50 +02:00